I have an application where I need to make two circles without the robot stopping after the first. Basically have the UR seamlessly transition into the second loop. However no matte what we do the UR either stops, makes a crazy unexpected move, skips over the loop and only does one circle.

Best Answer

Just one thought, have you tried replacing the last waypoint, waypoint_1 with another point thats close but not on top of the starting point? I believe the issue is you are trying to start the movep from on top of itself. I'd try setting the point a couple of degrees from the start point and see if that works.

You could then then have it exit the loop through waypoint_1 so that you close the circle on both loops

The circle will be about 650 mm in about 7 seconds. Yes it will be the same circle. If I put moveP and 8 waypoints with a blend I am able to get a good circle, but with the circle move it fails. Unfortunately I am unable to record it at this time.

We did this, and it works great ( Think of this as a mixer making cake )

Loop 2 times MoveP
Waypoint_1 CircleMove Waypoint_2 Waypoint_3 CircleMove Waypoint_4 Waypoint_1
Now a moveL prior to that for bringing the robot in the machine, somehow prevents it from completing the second circle. A popup says
blend radius is to small

We did this, and it works great ( Think of this as a mixer making cake )

Loop 2 times MoveP
Waypoint_1 CircleMove Waypoint_2 Waypoint_3 CircleMove Waypoint_4 Waypoint_1
Now a moveL prior to that for bringing the robot in the machine, somehow prevents it from completing the second circle. A popup says
blend radius is to small

What blend radius do you have on the movel? Is it inside the loop or outside? It should be outside the loop.